Following is a demo of the The Left Wall Heuristic program.
#solve([2,1],south,[2,2],Path). Path = [[2,1],[2,2],[3,2],[3,3],[4,3],[5,3],[5,2],[5,3],[5,4],[5,5],[5,4],[5,3],[4,3],[3,3],[3,4],[3,5],[2,5],[2,6]] ? ; Path = [[2,1],[2,2],[3,2],[3,3],[4,3],[5,3],[5,2],[5,3],[5,4],[5,5],[5,4],[5,3],[4,3],[3,3],[3,4],[3,5],[2,5],[2,6],[2,5],[3,5],[3,4],[3,3],[3,2],[2,2],[2,1],[2,2],[3,2],[3,3],[4,3],[5,3],[5,2],[5,3],[5,4],[5,5],[5,4],[5,3],[4,3],[3,3],[3,4],[3,5],[2,5],[2,6]] ? ; Path = [[2,1],[2,2],[3,2],[3,3],[4,3],[5,3],[5,2],[5,3],[5,4],[5,5],[5,4],[5,3],[4,3],[3,3],[3,4],[3,5],[2,5],[2,6],[2,5],[3,5],[3,4],[3,3],[3,2],[2,2],[2,1],[2,2],[3,2],[3,3],[4,3],[5,3],[5,2],[5,3],[5,4],[5,5],[5,4],[5,3],[4,3],[3,3],[3,4],[3,5],[2,5],[2,6],[2,5],[3,5],[3,4],[3,3],[3,2],[2,2],[2,1],[2,2],[3,2],[3,3],[4,3],[5,3],[5,2],[5,3],[5,4],[5,5],[5,4],[5,3],[4,3],[3,3],[3,4],[3,5],[2,5],[2,6]] ?